@article{oai:repository.dl.itc.u-tokyo.ac.jp:00000059,
 author = {Arai, Hirohiko and Tachi, Susumu},
 issue = {4},
 journal = {IEEE transactions on robotics and automation : a publication of the IEEE Robotics and Automation Society},
 month = {Aug},
 note = {application/pdf},
 pages = {528--534},
 title = {Position Control of a Manipulator with Passive Joints Using Dynamic Coupling},
 volume = {7},
 year = {1991}
}